中継機能つけた受け取りオムニ
Dependencies: mbed MultiSerial
Diff: main.cpp
- Revision:
- 38:098150180639
- Parent:
- 37:53f8b2c0bad6
- Child:
- 39:18b1bc93a5f7
diff -r 53f8b2c0bad6 -r 098150180639 main.cpp --- a/main.cpp Tue Oct 14 10:52:20 2014 +0000 +++ b/main.cpp Tue Oct 14 12:24:42 2014 +0000 @@ -15,7 +15,7 @@ #include "mbed.h" #include "MultiSerial.h" -#define DATA_NUM 2 //DATA_NUM[byte]通信 この値はmemcpy使ってるんでxbee_packet構造体のメモリ数といい感じに合わせるようにしてください +#define DATA_NUM 2 //DATA_NUM[byte]通信 #define XBEE_KEY 0xAA //keycode #define ARM_KEY 0xAA @@ -34,17 +34,20 @@ #define TIME 0 -BusOut check(LED1,LED2,LED3,LED4); -BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); +BusOut check(LED1,LED2,LED3,LED4); +BusOut motors(p13,p14,p15,p16,p17,p18,p19,p20); -PwmOut pwm[4]= {p21,p22,p23,p24}; +PwmOut pwm[4]= {p21,p22,p23,p24}; -Serial pc(USBTX,USBRX); +Serial pc(USBTX,USBRX); MultiSerial xbee(p28,p27); MultiSerial armMbed(p9,p10); -Ticker xbee_check; +Ticker xbee_check; + +uint8_t get_data[DATA_NUM] = {0}; +uint8_t check_data[2] = {0}; /* data structure */ typedef struct { @@ -56,9 +59,6 @@ xbee_packet packet = {0}; -uint8_t get_data[DATA_NUM]= {0}; -uint8_t check_data[2]= {0}; - void safety_mode(){ get_data[0] = 0; @@ -84,11 +84,12 @@ break; case 1: - // + check = 0xF; wait(0.5); check = 0; wait(0.5); + break; } } @@ -109,7 +110,6 @@ xbee_packet *pt_packet=&packet; /* Serial connection init */ - xbee.start_read(); xbee.read_data(get_data,XBEE_KEY); @@ -122,8 +122,6 @@ for(;;) { - - packet.arm[0] = get_data[1]; packet.leg = get_data[0];